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Won't Fix
Votes
0
Found in
2020.1.0a15
Issue ID
1201735
Regression
No
ArticulationBody setup flies around in play mode with no forces applied when there is a falling rigidbody
ArticulationBody setup flies around in play mode with no forces applied when there is a falling rigidbody
To reproduce:
1. Open attached project
2. Enter play mode
Expected result: The capsule/cube body falls to the ground and rests
Actual result: After hitting the ground, he convulsely flies off into the distance
Reproduced in: 2020.1.0a15 (feature introduced in this version)
Note: This only happens if there is a rigidbody cube falling somewhere in the scene (they do not need to collide)
Note2: This only happens if the articulation body has sufficiently complex set up. Disabling any of the 4 connected Articulation Bodies stop the bug from reproducing
Note3: Gif attached
Note4: Capsule (1) has Twist set to Limited. Switching it to Free also makes the bug dissapear
WORKAROUND: One of the limbs has Spherical joint with Twist limited to a [0, 0] range. It creates a bad condition inside PhysX, so increasing the twist range is recommended. Also, I noticed that removing non-uniform scale helped too.
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Resolution Note:
This is related to a problem in PhysX where a certain type of a spherical joint would cause an ill condition for the algorithm used. It's expected to be addressed in PhysX 5, but we'd only be able to reliably tell when it's out. Closing for now.